Non-Locally Controllable but Trackable Magnetic Head Flagellated Swimmer
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866914135656103936 |
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| author | Palazzolo, Lucas Binois, Mickaël Giraldi, Laëtitia |
| author_facet | Palazzolo, Lucas Binois, Mickaël Giraldi, Laëtitia |
| contents | Unlike macroscopic swimmers, microswimmers operate in a low-Reynolds-number regime dominated by viscous forces. This paper investigates the controllability of a magnetic microswimmer composed of a spherical magnetic head and an elastic, non-magnetic flagellum. The swimmer evolves in a Stokes flow and is modeled using the resistive force theory. We prove that, under planar motion, the system is not small-time locally controllable and numerically identify regions that remain inaccessible. Nevertheless, simulations show that trajectory tracking can still be achieved via Bayesian optimization, though it requires large-amplitude transverse deformations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_02535 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Non-Locally Controllable but Trackable Magnetic Head Flagellated Swimmer Palazzolo, Lucas Binois, Mickaël Giraldi, Laëtitia Optimization and Control Soft Condensed Matter 93B05, 37N10, 76Z10 Unlike macroscopic swimmers, microswimmers operate in a low-Reynolds-number regime dominated by viscous forces. This paper investigates the controllability of a magnetic microswimmer composed of a spherical magnetic head and an elastic, non-magnetic flagellum. The swimmer evolves in a Stokes flow and is modeled using the resistive force theory. We prove that, under planar motion, the system is not small-time locally controllable and numerically identify regions that remain inaccessible. Nevertheless, simulations show that trajectory tracking can still be achieved via Bayesian optimization, though it requires large-amplitude transverse deformations. |
| title | Non-Locally Controllable but Trackable Magnetic Head Flagellated Swimmer |
| topic | Optimization and Control Soft Condensed Matter 93B05, 37N10, 76Z10 |
| url | https://arxiv.org/abs/2511.02535 |